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Welcome to the Summer 2022 wiki!

Basic outline of the 4 days:

Step 1

• Drive robot to get an idea about possible end result
• Install WPILib
• CompiledCode and Person example
• Maybe bank demo of classes
• Main and blank SwervyRobot
• Open loop control of rotation motor with Joystick
• Read encoder in degrees
• P(ID) for heading
• Open loop control of drive motor with joystick
• Read encoder as distance in meters
• Feed forward (and PID) for speed
• Drive with all modules pointed the same heading and at same speed

Step 2

• Try Units.inchesPerMeters()
• Extract OperatorInterface
• Arrays demo
• Drivetrain to handle the 4 SwerveModules
• Use WPILib classes to swerve in any direction and rotate

Step 3

• Pigeon/gyro
• CommandScheduler, Subsystem to use periodic for gyro display etc.
• Odometry, track position
• 'Zero' distance
• Autonomous moves
• Commands

Step 4

• Limit max module motor speed
• Control motors via Voltage
• Use Translation2d.rotateBy(robot_heading) to move relative to field, not robot